EP2963268B1 - Multivariable feedforward control - Google Patents

Multivariable feedforward control Download PDF

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Publication number
EP2963268B1
EP2963268B1 EP15174358.0A EP15174358A EP2963268B1 EP 2963268 B1 EP2963268 B1 EP 2963268B1 EP 15174358 A EP15174358 A EP 15174358A EP 2963268 B1 EP2963268 B1 EP 2963268B1
Authority
EP
European Patent Office
Prior art keywords
transient
variable
machine
feedforward
input data
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Not-in-force
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EP15174358.0A
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German (de)
English (en)
French (fr)
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EP2963268A1 (en
Inventor
Guoxin Li
R. Sheldon Carpenter
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
General Electric Co
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General Electric Co
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Publication of EP2963268A1 publication Critical patent/EP2963268A1/en
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Publication of EP2963268B1 publication Critical patent/EP2963268B1/en
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/0205—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system
    • G05B13/026—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system using a predictor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02C—GAS-TURBINE PLANTS; AIR INTAKES FOR JET-PROPULSION PLANTS; CONTROLLING FUEL SUPPLY IN AIR-BREATHING JET-PROPULSION PLANTS
    • F02C9/00—Controlling gas-turbine plants; Controlling fuel supply in air- breathing jet-propulsion plants
    • F02C9/26—Control of fuel supply
    • F02C9/28—Regulating systems responsive to plant or ambient parameters, e.g. temperature, pressure, rotor speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01D—NON-POSITIVE DISPLACEMENT MACHINES OR ENGINES, e.g. STEAM TURBINES
    • F01D17/00—Regulating or controlling by varying flow
    • F01D17/02—Arrangement of sensing elements
    • F01D17/06—Arrangement of sensing elements responsive to speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01D—NON-POSITIVE DISPLACEMENT MACHINES OR ENGINES, e.g. STEAM TURBINES
    • F01D17/00—Regulating or controlling by varying flow
    • F01D17/02—Arrangement of sensing elements
    • F01D17/08—Arrangement of sensing elements responsive to condition of working-fluid, e.g. pressure
    • F01D17/085—Arrangement of sensing elements responsive to condition of working-fluid, e.g. pressure to temperature
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05D—INDEXING SCHEME FOR ASPECTS RELATING TO NON-POSITIVE-DISPLACEMENT MACHINES OR ENGINES, GAS-TURBINES OR JET-PROPULSION PLANTS
    • F05D2220/00—Application
    • F05D2220/30—Application in turbines
    • F05D2220/32—Application in turbines in gas turbines
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05D—INDEXING SCHEME FOR ASPECTS RELATING TO NON-POSITIVE-DISPLACEMENT MACHINES OR ENGINES, GAS-TURBINES OR JET-PROPULSION PLANTS
    • F05D2240/00—Components
    • F05D2240/20—Rotors
    • F05D2240/24—Rotors for turbines
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05D—INDEXING SCHEME FOR ASPECTS RELATING TO NON-POSITIVE-DISPLACEMENT MACHINES OR ENGINES, GAS-TURBINES OR JET-PROPULSION PLANTS
    • F05D2260/00—Function
    • F05D2260/80—Diagnostics
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05D—INDEXING SCHEME FOR ASPECTS RELATING TO NON-POSITIVE-DISPLACEMENT MACHINES OR ENGINES, GAS-TURBINES OR JET-PROPULSION PLANTS
    • F05D2270/00—Control
    • F05D2270/01—Purpose of the control system
    • F05D2270/03—Purpose of the control system in variable speed operation
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05D—INDEXING SCHEME FOR ASPECTS RELATING TO NON-POSITIVE-DISPLACEMENT MACHINES OR ENGINES, GAS-TURBINES OR JET-PROPULSION PLANTS
    • F05D2270/00—Control
    • F05D2270/30—Control parameters, e.g. input parameters
    • F05D2270/301—Pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05D—INDEXING SCHEME FOR ASPECTS RELATING TO NON-POSITIVE-DISPLACEMENT MACHINES OR ENGINES, GAS-TURBINES OR JET-PROPULSION PLANTS
    • F05D2270/00—Control
    • F05D2270/40—Type of control system
    • F05D2270/44—Type of control system active, predictive, or anticipative

Definitions

  • the technology described herein relates generally to gas turbine engines and more particularly to the control of gas turbine engines for aircraft.
  • pressure ratios act as a control parameter to achieve optimal performance and operability.
  • pressure ratio tracking with a multivariable or multi-input, multi-output (MIMO) system using a feedback loop may result in undesirable levels of error, limiting the performance of the control system, in particular, in fast transient cases.
  • Solutions to mitigate the effect of the tracking error typically include additional logical and heuristic processes that augment the basic feedback system during transient operation. That is, conventional tracking systems override the MIMO feedback model with additional control schemes based on measurements of how much the reference is changing to account for a fundamental mischaracterization of the underlying system. Essentially, the current solutions for control systems for turbine engines acknowledge the shortcomings of the feedback multivariable system, but do not address the problem directly.
  • US20080221710 A1 discloses a method of tracking variable states of a gas turbine engine according to prior art.
  • a method of tracking variable states of a gas turbine engine in transient conditions includes obtaining input data representative of rotor velocity and pressure ratio; calculating a reference transient scheduled trajectory based on the input data; calculating a speed reference transient scheduled trajectory based on the input data; calculating a feedforward variable based on the reference transient scheduled trajectory; obtaining a feedback control variable; and determining a control variable based on a combination of the feedforward variable and the feedback control variable.
  • embodiments described herein may include or utilize a computer program product comprising machine-readable media for carrying or having machine-executable instructions or data structures stored thereon.
  • machine-readable media can be any available media, which can be accessed by a general purpose or special purpose computer or other machine with a processor.
  • machine-readable media can comprise RAM, ROM, EPROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of machine-executable instructions or data structures and that can be accessed by a general purpose or special purpose computer or other machine with a processor.
  • Machine-executable instructions comprise, for example, instructions and data, which cause a general purpose computer, special purpose computer, or special purpose processing machines to perform a certain function or group of functions.
  • Embodiments will be described in the general context of method steps that may be implemented in one embodiment by a program product including machine-executable instructions, such as program codes, for example, in the form of program modules executed by machines in networked environments.
  • program modules include routines, programs, objects, components, data structures, etc. that have the technical effect of performing particular tasks or implement particular abstract data types.
  • Machine-executable instructions, associated data structures, and program modules represent examples of program codes for executing steps of the method disclosed herein.
  • the particular sequence of such executable instructions or associated data structures represent examples of corresponding acts for implementing the functions described in such steps.
  • Embodiments may be practiced in a networked environment using logical connections to one or more remote computers having processors.
  • Logical connections may include a local area network (LAN) and a wide area network (WAN) that are presented here by way of example and not limitation.
  • LAN local area network
  • WAN wide area network
  • Such networking environments are commonplace in office-wide or enterprise-wide computer networks, intranets and the internet and may use a wide variety of different communication protocols.
  • Those skilled in the art will appreciate that such network computing environments will typically encompass many types of computer system configurations, including personal computers, hand-held devices, multiprocessor systems, microprocessor-based or programmable consumer electronics, network PCs, minicomputers, mainframe computers, and the like.
  • Embodiments may also be practiced in distributed computing environments where tasks are performed by local and remote processing devices that are linked (either by hardwired links, wireless links, or by a combination of hardwired or wireless links) through a communication network.
  • program modules may be located in both local and remote memory storage devices.
  • An exemplary system for implementing the overall or portions of the exemplary embodiments might include a general purpose computing device in the form of a computer, including a processing unit, a system memory, and a system bus, that couples various system components including the system memory to the processing unit.
  • the system memory may include read only memory (ROM) and random access memory (RAM).
  • the computer may also include a magnetic hard disk drive for reading from and writing to a magnetic hard disk, a magnetic disk drive for reading from or writing to a removable magnetic disk, and an optical disk drive for reading from or writing to a removable optical disk such as a CD-ROM or other optical media.
  • the drives and their associated machine-readable media provide nonvolatile storage of machine-executable instructions, data structures, program modules and other data for the computer.
  • Beneficial effects of the method disclosed in the embodiments include improved tracking performance while maintaining an integrated multivariable feedback control gain, eliminating complicated and unstable heuristic logic processes for control systems when mitigating large transients.
  • Other benefits include high performance tracking of acceleration rate and operability limits, and improving thrust response in aero-refueling, carrier approach operations or other special missions such as short take-off and vertical landing (STOVL).
  • STOVL short take-off and vertical landing
  • the gas turbine engine may be a turbofan engine, such as a General Electric GEnx or CF6 series engine, commonly used in modern commercial and military aviation or it could be a variety of other known gas turbine engines such as a turboprop or turboshaft.
  • the gas turbine engine may also have an afterburner that burns an additional amount of fuel downstream of the low pressure turbine region to increase the velocity of the exhausted gases, and thereby increasing thrust.
  • FIG. 1 is a schematic view of an exemplary gas turbine engine 10 that includes a core engine section 12 positioned axially downstream from a fan section 14 along a longitudinal axis 15.
  • the core engine section 12 includes a generally tubular outer casing 16 that defines an annular core engine inlet 18 and that encloses and supports a pressure booster 20 for use in raising the pressure of the air that enters the core engine section 12 to a first pressure level.
  • a high-pressure, multi-stage, axial-flow compressor 22 receives pressurized air from the booster 20 and further increases the pressure of the air.
  • the pressurized air flows to a combustor 24 where fuel is injected into the pressurized air stream to raise the temperature and energy level of the pressurized air.
  • High energy combustion products flow to a first turbine 26 for use in driving the compressor 22 through a first drive shaft 28, and then to a second turbine 30 for use in driving the booster 20 through a second drive shaft 32 that is coaxial with the first drive shaft 28.
  • the combustion products After driving each of turbines 26 and 30, the combustion products provide propulsive jet thrust by being channeled from the core engine section 12 through an exhaust nozzle 34.
  • the fan section 14 Surrounded by an annular fan casing 38, the fan section 14 includes a rotatable, axial-flow fan rotor 36.
  • the fan casing 38 is supported about the core engine section 12 by a plurality of substantially radially-extending, circumferentially-spaced support struts 40.
  • the fan casing 38 is supported by radially extending outlet guide vanes 42 and encloses the fan rotor 36 and a plurality of fan rotor blades 44.
  • a downstream section 39 of the fan casing 38 extends over an outer portion of the core engine 12 to define a secondary, or bypass, airflow conduit 46 that provides additional propulsive jet thrust.
  • Transient data demonstrates a strong coupling between control variables.
  • the pressure ratio response often is non-minimum phase and, consequently, it has significant undesired drive downs because conventional MIMO design is based on the assumption that the control references are independent variables. Therefore, to control a gas turbine engine for an aircraft using a feedback-only control system, the system necessarily compromises stability and robustness by increasing the control bandwidth and reducing or decoupling the control references. Errors in the coupling may generate large modeling errors (i.e. large transients due to partial mismatch) and unmodeled dynamics in the dynamic inversion design. Instead, direct feedforward calculation of the engine control bypasses the feedback limitation on bandwidth and directs the effectors to move instantaneously (subject to effector dynamic capability) based on predicted reference changes. The control system will minimize the tracking error if the partials used in the feedforward calculation are close to the actual engine dynamics.
  • Inputs 110, 112 to the control system 100 include sensed values of characteristics of the engine and may include analog or digital representations of observations indicative of the state, operability or environment of the engine.
  • a first input 110 may include a pressure ratio 110 and a second input 112 may include the ambient pressure, P0 and the air temperature prior to the fan T2.
  • the second input 112 are local inputs to the rotor acceleration (Ndot) schedule 116. That is, current values of P0 and T2 determine, in part, the rotor acceleration Ndot 118.
  • the rotor acceleration schedule 116 breaks a complex, non-linear system element like rotor acceleration into a collection of range-limited subsystems such that a controller may determine and control rotor acceleration 118 by interpolating between the nearest defined subsystems (e.g. groups of values for P0, T2, and sensor outputs 144 of the controlled variable Y ctrl 146 etc).
  • a controller may determine and control rotor acceleration 118 by interpolating between the nearest defined subsystems (e.g. groups of values for P0, T2, and sensor outputs 144 of the controlled variable Y ctrl 146 etc).
  • the rotor acceleration 118 along with the first input 110 are input to the transient power management schedule, TR 120.
  • TR 120 the transient power management schedule
  • the fan and core rates are calculated based on designed schedules for the second input (e.g. P0 and T2) under large transient throttle conditions along with a pressure ratio reference transient schedule at 120.
  • the rotor acceleration, Ndot 118 is input to an integrator 122.
  • the integrator 122 computes an estimate of the rotor velocity, N to form a speed scheduled trajectory. With both speed and pressure ratio scheduled trajectories and forward predictions, feedforward (FF) 124 is thus calculated based on the desired trajectory.
  • FF feedforward
  • v ff is the calculated feedforward based on pressure ratio trajectory
  • y d ⁇ a is the assumed time constant
  • T s is the sampling time.
  • the feedforward control output at FF 124 is input to the block F(s) 130.
  • the functional block F(s) 130 provides additional dynamic shaping of the feedforward output control from FF 124.
  • the rotor velocity, N is summed at block 126 with controlled variable Y ctrl 146.
  • the output of the summing operation at 126 is input to the block L(s) 128.
  • the functional block L(s) at 128 is the multivariable feedback control loop dynamic tuning. Tuning a control loop adjusts the control parameters to optimize the parameters to achieve a desired control response.
  • the outputs of block L(s) and F(s) 130 are input to the summing operation at block 139.
  • the inputs 110, 112 to the control system are MIMO inputs that, by dynamic inversion, yield MIMO gains of K1 and K2 matrices, 132 and 134 respectively.
  • Disturbance rejection 140 is included as a feedforward control of the off-scheduling error geometry of the controlled effectors and yield a MIMO gain of the Kd matrix 141. That is, disturbance rejection attenuates the effects of uncontrolled effectors.
  • the gain matrices are integrated at block 138 which is input to the plant dynamics, G(s) at block 142. That is, G(s) at block 142 represents the plant dynamics including both a cycle model and an effector model.
  • C , A, B u are the linear engine speed, torque, and input partials respectively.
  • B d and D d are the open loop scheduled effectors or other modeled disturbance partials, and d ( k ) represents disturbances generated by the open loop scheduled effectors and other modeled disturbances.
  • a method 200 of implementing the feedforward and feedback control system tracks variable states of a gas turbine engine in transient conditions.
  • a computer program on a processor may implement the method.
  • the processor obtains input data representative of rotor velocity and pressure ratio. Based on the input data, the processor calculates a pressure ratio reference transient scheduled trajectory at step 220.
  • the processor may additionally calculate other schedules based on available inputs and necessary outputs. For example, the processor may calculate a speed reference transient scheduled trajectory.
  • the processor may then calculate a feedforward variable at step 230 based on the speed reference transient scheduled trajectory and pressure ratio transient scheduled trajectory.
  • the processor then obtains a feedback control variable at step 240 and determines at step 250 a control variable based on a multivariable coupled combination of the feedforward variable and the feedback control variable.
  • embodiments described herein may include a computer program product comprising machine-readable media for carrying or having machine-executable instructions or data structures stored thereon.
  • machine-readable media can be any available media, which can be accessed by a general purpose or special purpose computer or other machine with a processor.
  • machine-readable media can comprise RAM, ROM, EPROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of machine-executable instructions or data structures and that can be accessed by a general purpose or special purpose computer or other machine with a processor.
  • Machine-executable instructions comprise, for example, instructions and data, which cause a general purpose computer, special purpose computer, or special purpose processing machines to perform a certain function or group of functions.
  • Embodiments will be described in the general context of method steps that may be implemented in one embodiment by a program product including machine-executable instructions, such as program codes, for example, in the form of program modules executed by machines in networked environments.
  • program modules include routines, programs, objects, components, data structures, etc. that have the technical effect of performing particular tasks or implement particular abstract data types.
  • Machine-executable instructions, associated data structures, and program modules represent examples of program codes for executing steps of the method disclosed herein.
  • the particular sequence of such executable instructions or associated data structures represent examples of corresponding acts for implementing the functions described in such steps.
  • Embodiments may be practiced in a networked environment using logical connections to one or more remote computers having processors.
  • Logical connections may include a local area network (LAN) and a wide area network (WAN) that are presented here by way of example and not limitation.
  • LAN local area network
  • WAN wide area network
  • Such networking environments are commonplace in office-wide or enterprise-wide computer networks, intranets and the internet and may use a wide variety of different communication protocols.
  • Those skilled in the art will appreciate that such network computing environments will typically encompass many types of computer system configurations, including personal computers, hand-held devices, multiprocessor systems, microprocessor-based or programmable consumer electronics, network PCs, minicomputers, mainframe computers, and the like.
  • Embodiments may also be practiced in distributed computing environments where tasks are performed by local and remote processing devices that are linked (either by hardwired links, wireless links, or by a combination of hardwired or wireless links) through a communication network.
  • program modules may be located in both local and remote memory storage devices.
  • An exemplary system for implementing the overall or portions of the exemplary embodiments might include a general purpose computing device in the form of a computer, including a processing unit, a system memory, and a system bus, that couples various system components including the system memory to the processing unit.
  • the system memory may include read only memory (ROM) and random access memory (RAM).
  • the computer may also include a magnetic hard disk drive for reading from and writing to a magnetic hard disk, a magnetic disk drive for reading from or writing to a removable magnetic disk, and an optical disk drive for reading from or writing to a removable optical disk such as a CD-ROM or other optical media.
  • the drives and their associated machine-readable media provide nonvolatile storage of machine-executable instructions, data structures, program modules and other data for the computer.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Health & Medical Sciences (AREA)
  • Feedback Control In General (AREA)
  • Control Of Turbines (AREA)
EP15174358.0A 2014-06-30 2015-06-29 Multivariable feedforward control Not-in-force EP2963268B1 (en)

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US201462019268P 2014-06-30 2014-06-30

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US (1) US9880527B2 (ja)
EP (1) EP2963268B1 (ja)
JP (1) JP2016020692A (ja)
CN (1) CN105221270B (ja)
BR (1) BR102015015727A2 (ja)
CA (1) CA2895642A1 (ja)

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US10961922B2 (en) 2018-04-04 2021-03-30 Raytheon Technologies Corporation Systems and methods for power turbine governing
US11092136B2 (en) * 2018-05-04 2021-08-17 Raytheon Technologies Corporation Systems and methods for optimal speed protection for power turbine governing
US10934944B2 (en) * 2018-11-07 2021-03-02 Dalian University Of Technology Method for optimization of transient control law of aero-engine
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CA2895642A1 (en) 2015-12-30
JP2016020692A (ja) 2016-02-04
EP2963268A1 (en) 2016-01-06
US20150378327A1 (en) 2015-12-31
BR102015015727A2 (pt) 2016-06-28
CN105221270A (zh) 2016-01-06
CN105221270B (zh) 2018-08-10
US9880527B2 (en) 2018-01-30

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